Path tracking control for underactuated autonomous underwater vehicles using approach angle

Kyoung Joo Kim, Jin Bae Park, Yoon Ho Choi

Research output: Contribution to journalArticle

1 Citation (Scopus)

Abstract

In this paper, we propose a novel path tracking control algorithm for an underactuated autonomous underwater vehicle (AUV). The underactuated AUV is controlled by the thrust force and the yaw torque: no sway thruster is used. To deal with this underactuated AUV problem in the path tracking, we introduce an approach angle which makes the AUV converge to the reference path. To design the path tracking controller, we obtain the vehicle's error dynamics in the body-fixed frame, and then design the path tracking controller based on the dynamic surface control (DSC) method. The proposed controller only needs the information of the position and the heading angle of the reference path. Some simulation results demonstrate the effectiveness of the proposed controller.

Original languageEnglish
Pages (from-to)760-766
Number of pages7
JournalIEICE Transactions on Fundamentals of Electronics, Communications and Computer Sciences
VolumeE95-A
Issue number4
DOIs
Publication statusPublished - 2012 Jan 1

Fingerprint

Path Tracking
Autonomous underwater vehicles
Underwater Vehicle
Tracking Control
Controller
Angle
Controllers
Dynamic Surface Control
Path
Control surfaces
Control Algorithm
Torque
Converge
Demonstrate
Simulation
Design

All Science Journal Classification (ASJC) codes

  • Signal Processing
  • Computer Graphics and Computer-Aided Design
  • Applied Mathematics
  • Electrical and Electronic Engineering

Cite this

@article{ecf26533ed044d9e93f9f290d5ae38c0,
title = "Path tracking control for underactuated autonomous underwater vehicles using approach angle",
abstract = "In this paper, we propose a novel path tracking control algorithm for an underactuated autonomous underwater vehicle (AUV). The underactuated AUV is controlled by the thrust force and the yaw torque: no sway thruster is used. To deal with this underactuated AUV problem in the path tracking, we introduce an approach angle which makes the AUV converge to the reference path. To design the path tracking controller, we obtain the vehicle's error dynamics in the body-fixed frame, and then design the path tracking controller based on the dynamic surface control (DSC) method. The proposed controller only needs the information of the position and the heading angle of the reference path. Some simulation results demonstrate the effectiveness of the proposed controller.",
author = "Kim, {Kyoung Joo} and Park, {Jin Bae} and Choi, {Yoon Ho}",
year = "2012",
month = "1",
day = "1",
doi = "10.1587/transfun.E95.A.760",
language = "English",
volume = "E95-A",
pages = "760--766",
journal = "IEICE Transactions on Fundamentals of Electronics, Communications and Computer Sciences",
issn = "0916-8508",
publisher = "Maruzen Co., Ltd/Maruzen Kabushikikaisha",
number = "4",

}

Path tracking control for underactuated autonomous underwater vehicles using approach angle. / Kim, Kyoung Joo; Park, Jin Bae; Choi, Yoon Ho.

In: IEICE Transactions on Fundamentals of Electronics, Communications and Computer Sciences, Vol. E95-A, No. 4, 01.01.2012, p. 760-766.

Research output: Contribution to journalArticle

TY - JOUR

T1 - Path tracking control for underactuated autonomous underwater vehicles using approach angle

AU - Kim, Kyoung Joo

AU - Park, Jin Bae

AU - Choi, Yoon Ho

PY - 2012/1/1

Y1 - 2012/1/1

N2 - In this paper, we propose a novel path tracking control algorithm for an underactuated autonomous underwater vehicle (AUV). The underactuated AUV is controlled by the thrust force and the yaw torque: no sway thruster is used. To deal with this underactuated AUV problem in the path tracking, we introduce an approach angle which makes the AUV converge to the reference path. To design the path tracking controller, we obtain the vehicle's error dynamics in the body-fixed frame, and then design the path tracking controller based on the dynamic surface control (DSC) method. The proposed controller only needs the information of the position and the heading angle of the reference path. Some simulation results demonstrate the effectiveness of the proposed controller.

AB - In this paper, we propose a novel path tracking control algorithm for an underactuated autonomous underwater vehicle (AUV). The underactuated AUV is controlled by the thrust force and the yaw torque: no sway thruster is used. To deal with this underactuated AUV problem in the path tracking, we introduce an approach angle which makes the AUV converge to the reference path. To design the path tracking controller, we obtain the vehicle's error dynamics in the body-fixed frame, and then design the path tracking controller based on the dynamic surface control (DSC) method. The proposed controller only needs the information of the position and the heading angle of the reference path. Some simulation results demonstrate the effectiveness of the proposed controller.

UR - http://www.scopus.com/inward/record.url?scp=84859385386&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=84859385386&partnerID=8YFLogxK

U2 - 10.1587/transfun.E95.A.760

DO - 10.1587/transfun.E95.A.760

M3 - Article

AN - SCOPUS:84859385386

VL - E95-A

SP - 760

EP - 766

JO - IEICE Transactions on Fundamentals of Electronics, Communications and Computer Sciences

JF - IEICE Transactions on Fundamentals of Electronics, Communications and Computer Sciences

SN - 0916-8508

IS - 4

ER -